Dexterous hand finger, bionic mechanical arm and humanoid robot

Abstract

The utility model discloses a dexterous hand finger, a bionic mechanical arm and a humanoid robot, belongs to the field of bionic mechanical arms, solves the problem that the motion precision of the finger is reduced due to the fact that the rotation matching of a rotating shaft and a shaft hole is easy to be blocked, and adopts the technical scheme that the dexterous hand finger mainly comprises a finger base, a finger body and a driving motor, a transmission mechanism is arranged on the finger base, the driving motor drives the finger body to bend and / or swing, the finger body comprises a first knuckle and a second knuckle, the first knuckle is rotationally connected with the finger base, and the second knuckle is rotationally connected with the first knuckle. Hinge structures are arranged at the joints of the first knuckles and the finger base and the joints of the second knuckles and the first knuckles, each hinge structure comprises a rotating shaft, a shaft hole and a shaft sleeve, and the rotating shafts penetrate through the shaft sleeves and are in running fit with the shaft sleeves. The shaft sleeve is mainly used for assembling the shaft sleeve between the shaft hole and the rotating shaft, the possibility that the shaft hole and the rotating shaft are damaged can be reduced, and it is guaranteed that fingers keep high motion precision.

Description

Technical Field

[0001] The utility model shows a dexterous hand finger, a bionic mechanical arm and a humanoid robot, belonging to the technical field of bionic mechanical arms. Background Art

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, dexterous hands, as key components for robots to perform functions and interact with humans, have received increasing attention and research. The research on bionic dexterous hands not only has great scientific significance, but also shows great potential in practical applications. The design of bionic dexterous hands is inspired by the morphology, structure and functional characteristics of organisms. Applying these characteristics to the design of dexterous hands has achieved a perfect fusion of biology, mechanics and engineering technology. Its structural design makes the dexterous hands closer to the movement and operation methods of human hands, which provides the possibility of more natural and efficient human-computer interaction.

[0003] A dexterous hand usually includes fingers, a drive motor and a transmission mechanism. The fingers include multiple knuckles, and two adjacent knuckles are hingedly connected by a shaft and a shaft hole to enable the fingers to imitate the bending movement of human fingers. In order to reduce the weight, cost and load of the dexterous hand, the dexterous hand usually uses aluminum alloy as the main material. Since the size of the dexterous hand is similar to that of the human hand, due to space constraints, the diameter of the shaft at the hinge of the two knuckles is generally 2mm to 3mm, and the wall thickness of the shaft hole is even less than 2mm. In order to ensure the accuracy of the finger, the fitting clearance between the shaft hole and the rotating shaft is roughly controlled to 0.1mm to 0.2mm to meet the movement in general occasions; the slender rotating shaft is easily deformed by force during assembly, resulting in the size of the fitting clearance between the rotating shaft and the shaft hole being difficult to meet the above requirements. If the gap in the local area is too large or the fitting is too tight, the rotation fitting of the rotating shaft and the shaft hole will be stuck, which will reduce the movement accuracy of the finger. In addition, the parts where the shaft hole fits too tightly will also produce severe friction during the finger movement, causing the hole wall to wear and the hole to deform, further reducing the movement accuracy. Utility Model Content

[0004] The purpose of the present utility model is to solve the problem that the rotational cooperation between the rotating shaft and the shaft hole is prone to jamming, which leads to reduced finger movement accuracy. To this end, a dexterous hand finger, a robotic arm and a humanoid robot are provided. A shaft sleeve is assembled between the shaft hole and the rotating shaft, which can reduce the possibility of damage to the shaft hole and the rotating shaft, thereby ensuring that the fingers maintain high movement accuracy.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A dexterous finger includes a finger base, a finger body and a drive motor. The finger base is provided with a transmission mechanism that is connected to the drive motor. The drive motor drives the finger body to bend and / or swing through the transmission mechanism. The finger body includes a first joint and a second joint. The first joint is rotatably connected to the finger base, and the second joint is rotatably connected to the first joint. The connection between the first joint and the finger base and the connection between the second joint and the first joint are both provided with a hinge structure. The hinge structure includes a rotating shaft, an axis hole and a shaft sleeve fixed in the axis hole. The rotating shaft passes through the shaft sleeve and rotatably cooperates with the shaft sleeve.

[0007] The beneficial effects of adopting the utility model are:

[0008] The hinge structure described in the present invention includes a rotating shaft, a shaft hole and a shaft sleeve fixed in the shaft hole, and the shaft sleeve rotates in cooperation with the rotating shaft, thereby separating the rotating shaft and the shaft hole from each other, avoiding relative friction between the rotating shaft and the shaft hole, reducing the possibility of wear between the shaft hole and the rotating shaft, and helping to extend the service life of the shaft hole and the rotating shaft; in addition, the shaft sleeve is fixed to the inner wall of the shaft hole, and the shaft sleeve can support the shaft hole, which helps to improve the strength of the shaft hole, thereby reducing the possibility of deformation of the shaft hole, making the assembly of the shaft hole and the rotating shaft more stable and reliable, avoiding the possibility of jamming between the shaft hole and the rotating shaft during rotation, and ensuring that the relative rotation of the shaft hole and the rotating shaft is smoother, so that the first finger joint and the second finger joint can accurately reflect the driving motor power transmission; secondly, the relative rotation of the rotating hole and the rotating shaft remains smooth, which can reduce the energy loss at the hinge, and at the same time reduce the delay in the movement of the finger body, ensuring that the finger body can maintain a high level of movement accuracy, so that the dexterous hand can perform more delicate movements; secondly, since the bushing and the shaft hole are not integrally formed, the bushing can be made of a material with better performance, so that the bushing has higher strength and longer service life, and can also form a stronger support for the shaft hole so that the shaft hole is not easily deformed, so as to maintain the movement accuracy of the fingers of the dexterous hand; and compared with replacing the entire finger with a material with better performance, the practice of only adding a bushing in the shaft hole can significantly reduce the overall production cost of the dexterous hand.

[0009] Preferably, the hinge structure includes two shaft holes, each of which is fixed with a shaft sleeve, and the rotating shaft passes through all the shaft sleeves at the same time and rotates in cooperation with the shaft sleeves.

[0010] Preferably, the hinge structure includes two axial holes, one of which contains a sleeve, and the rotating shaft is fixedly connected to the other axial hole. This technical solution can reduce the number of sleeves, thereby reducing the manufacturing cost of the dexterous hand fingers. Furthermore, the fixed connection between the rotating shaft and the other axial hole reduces wear between the rotating shaft and the axial hole, thereby extending the service life of the rotating shaft and the axial hole.

[0011] Preferably, a convex ring is provided on the outer circumference of one end of the sleeve, and a stepped surface is provided at the end of the shaft hole that abuts the convex ring. With the aforementioned technical solution, the cooperation between the convex ring and the stepped surface can position the sleeve, allowing the end of the sleeve to remain flush with the end of the shaft hole, thereby making the appearance of the sleeve and the shaft hole more complete and helping to improve the aesthetics of the finger. In addition, after the convex ring abuts the stepped surface, the user can clearly feel that the sleeve has been installed in place, thereby effectively reducing the difficulty of sleeve installation and helping to improve the efficiency of finger assembly.

[0012] Preferably, the first finger joint comprises a side swing link and a first finger joint link, the first finger joint link comprising a first hinge end, a second hinge end, and a third hinge end, the middle portion of the side swing link being rotatably connected to the finger base, the side swing link rotating relative to the finger base to drive the finger body to swing, both ends of the side swing link being hinged to the first hinge end, the second hinge end being connected to the transmission mechanism via a cross shaft, and the third hinge end being hinged to the second finger joint, the first hinge end, the second hinge end, and the third hinge end all being provided with the hinge structure. Using the aforementioned technical solution, the first finger joint link has three hinge ends, the three hinge ends of the first finger joint link being respectively connected to the side swing link, the cross shaft, and the second finger joint, making the force on the first finger joint link more uniform and reducing the possibility of the first finger joint link being bent. In addition, the first finger joint link being hinged to the second finger joint can effectively prevent the second finger joint from bending with the bending of the first finger joint, giving the second finger joint an independent degree of freedom, and effectively improving the flexibility of the fingers of the dexterous hand.

[0013] Preferably, the transmission mechanism includes two groups of first transmission members, the first transmission members include a guide member and a slider sliding along the guide member, the two ends of the cross shaft are respectively connected to the slider and the second hinge end, the sliders of the two groups of first transmission members slide synchronously in the same direction to drive the first knuckle to bend, and the sliders of the two groups of first transmission members slide different distances or slide in opposite directions to drive the finger body to swing.

[0014] Preferably, the transmission mechanism includes a second transmission member, the second transmission member includes a guide member and a slider sliding along the guide member, the end of the slider is connected to a cross shaft, the second finger joint includes a second finger joint connecting rod, the first connecting rod is rotatably connected between the cross shaft and the second finger joint connecting rod, and the hinge structure at the second hinged end includes a first rotating shaft, and the second connecting rod is rotatably connected between the first rotating shaft and the cross shaft.

[0015] Preferably, the finger body also includes a third knuckle, which is rotatably connected to the second knuckle connecting rod, and the hinge structure is provided at the connection between the third knuckle and the second knuckle connecting rod. The third knuckle is rotatably connected to the end of the first knuckle connecting rod with a third connecting rod, and the hinge structure is provided at both ends of the third connecting rod.

[0016] The present invention also shows a bionic robotic arm, comprising an arm and a dexterous hand, wherein the dexterous hand is provided with at least two fingers, wherein the fingers are dexterous hand fingers based on connecting rod transmission as described in any one of the above items, and the driving motor is fixed on the arm.

[0017] The utility model also shows a humanoid robot, comprising a robot body and at least one bionic mechanical arm as described above.

[0018] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings:

[0020] Figure 1 This is a schematic structural diagram of the fingers of a dexterous hand according to the present invention;

[0021] Figure 2 This is a side view of the fingers of a dexterous hand of the present invention;

[0022] Figure 3 This is a schematic structural diagram of a finger body in a dexterous hand of the present invention;

[0023] Figure 4 This is an exploded view of the first knuckle of a finger of a dexterous hand according to the present invention;

[0024] Figure 5 This is a schematic structural diagram of the first and second knuckles of a finger of a dexterous hand according to the present invention;

[0025] Figure 6 This is a schematic structural diagram of a dexterous hand in the present invention, wherein the finger is the thumb;

[0026] Figure 7 This is a structural schematic diagram of a bionic robotic arm of the present utility model.

[0027] Figure markings: 1. Finger base; 2. Finger body; 21. First finger joint; 211. First finger joint connecting rod; 2111. First hinged end; 2112. Second hinged end; 2113. Third hinged end; 2114. Fourth hinged end; 212. Side swing connecting rod; 213. First rotating shaft; 214. Second rotating shaft; 215. Third rotating shaft; 22. Second finger joint; 221. Second finger joint connecting rod; 222. First connecting rod; 223. Second connecting rod; 224. Third connecting rod; 23. Third finger joint; 24. Cross shaft; 251. Shaft hole; 2511. Step surface; 252. Bushing; 2521. Convex ring; 253. Rotating shaft; 31. Motor seat; 32. Drive motor; 5. Arm. DETAILED DESCRIPTION

[0028] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless expressly limited otherwise.

[0031] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0032] Example 1:

[0033] like Figures 1 to 7As shown, this embodiment shows a dexterous hand finger, including a finger base 1, a finger body 2 and a drive motor 32. The finger base 1 is provided with a transmission mechanism that is transmission-connected to the drive motor 32. The drive motor 32 drives the finger body 2 to bend and / or swing through the transmission mechanism. The finger body 2 includes a first joint 21 and a second joint 22. The first joint 21 is rotationally connected to the finger base 1, and the second joint 22 is rotationally connected to the first joint 21. The connection between the first joint 21 and the finger base 1 and the connection between the second joint 22 and the first joint 21 are both provided with a hinge structure. The hinge structure includes a rotating shaft 253, an axis hole 251 and a shaft sleeve 252 fixed in the axis hole 251. The rotating shaft 253 passes through the shaft sleeve 252 and rotates with the shaft sleeve 252.

[0034] The hinge structure in this embodiment includes a rotating shaft 253, a shaft hole 251 and a shaft sleeve 252 fixed in the shaft hole 251. The shaft sleeve 252 rotates with the rotating shaft 253 to separate the rotating shaft 253 and the shaft hole 251 from each other, avoiding relative friction between the rotating shaft 253 and the shaft hole 251, reducing the possibility of wear between the shaft hole 251 and the rotating shaft 253, and helping to extend the service life of the shaft hole 251 and the rotating shaft 253. In addition, the shaft sleeve 252 is fixed to the inner wall of the shaft hole 251. 252 can play a supporting role on the shaft hole 251, which helps to improve the strength of the shaft hole 251, thereby reducing the possibility of deformation of the shaft hole 251, making the assembly of the shaft hole 251 and the rotating shaft 253 more stable and reliable, avoiding the possibility of the shaft hole 251 and the rotating shaft 253 being stuck during the rotation process, and ensuring that the relative rotation of the shaft hole 251 and the rotating shaft 253 is smoother, so that the first finger joint 21 and the second finger joint 22 can accurately reflect the power transmission of the drive motor 32, and secondly the rotating hole The relative rotation between 251 and the rotating shaft 252 remains smooth, thereby reducing the energy loss at the hinge, and at the same time reducing the delay in the movement of the finger body 2, ensuring that the finger body 2 can maintain a high degree of movement accuracy, so that the dexterous hand can perform more delicate movements; secondly, since the shaft sleeve 252 and the shaft hole 251 are not integrally formed, the shaft sleeve 252 can be made of a material with better performance. For example, the shaft sleeve 252 can be made of a material with good wear resistance and high cutting strength such as copper, so that the shaft sleeve 252 has higher strength and longer service life, and at the same time can form a stronger support for the shaft hole 251 so that the shaft hole 251 is not easily deformed, so as to maintain the movement accuracy of the fingers of the dexterous hand; and compared with replacing the entire finger with a material with better performance, only adding the shaft sleeve 252 to the shaft hole 251 can significantly reduce the overall production cost of the dexterous hand; of course, it is understandable that in other embodiments, the rotating shaft 253 can also be made of a material with good wear resistance and high cutting strength such as copper.

[0035] like Figure 1 and Figure 2As shown, in this embodiment, the first finger joint link 211 has a first hinge end 2111, a second hinge end 2112 and a third hinge end 2113, wherein the side swing link 212 is C-shaped as a whole, the middle part of the side swing link 212 is hinged to the finger base 1, and the two ends of the side swing link 212 are bent and extended to the side away from the finger base 1. When the side swing link 212 rotates relative to the finger base 1, the two ends of the side swing link 212 simultaneously rotate around the side swing link 212. The first hinge end 2111 of the first knuckle link 211 extends between the two ends of the side swing link 212, and the first hinge end 2111 and the end of the side swing link 212 are rotatably connected by a hinge structure, the hinge structure includes an axis hole 251 respectively provided at the end of the side swing link 212 and the first hinge end 2111 and a rotating shaft 253 passing through the side swing link 212 and the first hinge end 2111 at the same time. The shaft hole 251 of the first hinge end 2111 is provided with a shaft sleeve 252, and the shaft 253 is a bolt. The shaft 253 passes through the shaft sleeve 252 from the side of the side swing link 212 facing away from the first hinge end 2111 and extends into the shaft hole 251 of the first hinge end 2111. The shaft 253 is fixedly matched with the shaft hole 251 of the first hinge end 2111, and the shaft 253 is rotated with the shaft sleeve 252. When the first knuckle link 211 and the side swing link 212 rotate relative to each other, the shaft 253 is rotated with the shaft sleeve 252. 53 rotates synchronously with the first finger joint link 211, and the rotating shaft 253 and the shaft hole 251 rotate relative to each other, so that the first finger joint link 211 and the side swing link 212 rotate relative to each other, thereby realizing the bending of the first finger joint 21; and when the side swing link 212 rotates relative to the finger base 1, when the two ends of the side swing link 212 rotate relative to the middle part of the side swing link 212, the two ends of the side swing link 212 drive the synchronous rotation of the first finger joint 21, thereby realizing the swinging of the finger body 2.

[0036] In this embodiment, in the same hinge structure, only a sleeve 252 is set in one shaft hole 251, which can reduce the number of sleeves 252 and thus reduce the production cost of the fingers of the dexterous hand; in addition, the rotating shaft 253 is fixedly connected to the other shaft hole 251, which can reduce the wear between the rotating shaft 253 and the shaft hole 251, and help to extend the service life of the rotating shaft 253 and the shaft hole 251; secondly, the first finger joint link 211 has three hinged ends, and the three hinged ends of the first finger joint link 211 are respectively connected to the side swing link 212, the cross shaft 24 and the second finger joint 22, so that the force on the first finger joint link 211 is more uniform, which can reduce the possibility of the first finger joint link 211 being bent. In addition, the first finger joint link 211 is hinged to the second finger joint 22, which can effectively prevent the second finger joint 22 from bending with the bending of the first finger joint 21, so that the second finger joint 22 has a separate degree of freedom, which can effectively improve the flexibility of the fingers of the dexterous hand.

[0037] The transmission mechanism described in this embodiment includes two groups of first transmission members and one group of second transmission members. The two groups of first transmission members are on the same mounting surface of the finger base 1. A cross shaft 24 is connected to the two groups of first transmission members. The cross shafts 24 of the two first transmission members are transmission-connected to the second hinge end 2112. The connection between the second hinge end 2112 and the cross shaft 24 is also provided with a hinge structure. The hinge structure includes a first rotating shaft 213. The first rotating shaft 213 passes through the shaft hole 251 of the second hinge end 2112 and the shaft holes 251 at the ends of the two cross shafts 24. A shaft sleeve 252 is fixedly installed in the shaft hole 251 of the cross shaft 24. The first rotating shaft 213 is fixedly connected to the second hinge end 2112. The first rotating shaft 213 and the cross shaft 24 are rotationally connected through the shaft sleeve 252. When it is necessary to control the first finger joint 21 to bend, the driving motor 32 controls the two groups The first transmission member descends synchronously and in the same direction along the finger base 1, and the first transmission member pulls the first rotation downward through the cross shaft 24. The first rotating shaft 213 acts on the first finger joint link 211 through the first hinge end 2111, so that the first finger joint link 211 rotates downward around the first hinge end 2111, thereby realizing the bending of the first finger joint 21; and when it is necessary to control the finger body 2 to swing, the driving motor 32 controls the two groups of first transmission members to slide at different speeds or the two groups of first transmission members to slide in opposite directions, so that the two cross shafts 24 are at different heights of the finger base 1, and the two cross shafts 24 act on the first rotating shaft 213 to tilt the first rotating shaft 213 relative to the horizontal plane. The first rotating shaft 213 acts on the first finger joint link 211, and the first finger joint link 211 drives the side swing link 212 to rotate to realize the swing of the finger body 2.

[0038] like Figure 3 and Figure 5As shown, in this embodiment, the second finger joint 22 includes a second finger joint link 221, and the second finger joint link 221 is rotatably connected to the third hinge end 2113 of the first finger joint link 211. The connection between the second finger joint link 221 and the third hinge end 2113 is also provided with a hinge structure, and the hinge structure includes a second rotating shaft 214, and the second rotating shaft 214 passes through the second finger joint link 221 and the third hinge end 2113 at the same time, wherein a shaft sleeve 252 is fixedly installed in the shaft hole 251 of the second finger joint link 221, the second rotating shaft 214 is rotatably matched with the shaft sleeve 252, and the second rotating shaft 214 is fixedly connected to the third hinge end 2113, thereby realizing the rotational connection between the second finger joint 22 and the first finger joint 21. In addition, the second finger joint 22 is connected to the third hinge end 2113. The joint link 221 is rotatably connected to the first link 222, and the second link 223 is rotatably connected to the first rotating shaft 213. The cross shaft 24 of the second transmission mechanism is rotatably connected to the second link 223, and the first link 222 is rotatably connected to the second link 223. When it is necessary to control the second knuckle 22 to bend, the driving motor 32 controls the second transmission member to slide downward along the finger base 1, and the second transmission member drives the second link 223 to rotate downward around the first rotation through the cross shaft 24. During the rotation of the second link 223, the second link 223 pulls the first link 222 to move downward, and the first link 222 pulls the second knuckle link 221 to rotate downward around the second rotating shaft 214, thereby realizing the bending of the second knuckle 22.

[0039] It should be noted that the dexterous hand fingers described in this embodiment may further include a third knuckle 23, wherein the first knuckle 21 simulates the knuckle at the base of a human finger, the second knuckle 22 simulates the knuckle at the middle of a human finger, and the third knuckle 23 simulates the knuckle at the tip of a human finger; the third knuckle 23 is hinged to the end of the second knuckle connecting rod 221 away from the first knuckle 21, and the connection between the third knuckle 23 and the second knuckle connecting rod 221 is also provided with a hinge structure, and the hinge structure includes a third rotating shaft 215, and the third rotating shaft 215 passes through the second knuckle connecting rod 221 and the third knuckle 23 at the same time, wherein a shaft hole 251 of the second knuckle connecting rod 221 is fixed with The shaft sleeve 252, the third rotating shaft 215 is rotatably matched with the second finger joint link 221 through the shaft sleeve 252, and the third rotating shaft 215 is fixedly connected to the third finger joint 23; in addition, the first finger joint link 211 also has a fourth hinge end 2114, and the third link 224 is rotatably connected between the third finger joint 23 and the first finger joint link 211, and the connection between the third link 224 and the fourth hinge end 2114 is provided with a hinge structure, and the connection between the third link 224 and the third finger joint 23 is also provided with a hinge structure, and when the second finger joint 22 is bent under the control of the drive motor 32, the third finger joint 23 will rotate relative to the second finger joint 22 as the second finger joint 22 is bent.

[0040] In addition, in order to enhance the control over the movement of the finger body, a fingertip is installed at the end of the third finger joint 23 in this embodiment, and a six-axis force sensor is provided on the fingertip. The six-axis force sensor can detect the force acting on the contact part of the fingertip. The six-axis force sensor cooperates with the drive motor 32 to control and adjust the bending degree of the first finger joint 21 and the second finger joint 22, thereby realizing the function of the dexterous hand to grasp fragile objects, such as eggs, potato chips, etc., so that the dexterous hand has more precise control, so as to complete more delicate movements and improve the simulation degree of the dexterous hand.

[0041] Of course it is understandable, such as Figure 6 As shown, in other embodiments, the finger of the dexterous hand may also be a thumb, that is, the finger of the dexterous hand may only include the first joint 21 and the second joint 22, and the tip of the thumb is fixed to the end of the second joint 22.

[0042] In addition, in order to make the assembly of the shaft sleeve 252 and the shaft hole 251 easier and more convenient, as shown in FIG. Figure 4 As described, in this embodiment, a convex ring 2521 is provided on the outer peripheral side of one end of the shaft sleeve 252, and the end of the shaft hole 251 is provided with a step surface 2511 abutting against the convex ring 2521. The cooperation between the convex ring 2521 and the step surface 2511 can play a positioning role for the shaft sleeve 252, so that the end of the shaft sleeve 252 can be kept flush with the end of the shaft hole 251, thereby making the appearance of the shaft sleeve 252 and the shaft hole 251 more complete, which helps to improve the aesthetics of the finger; in addition, after the convex ring 2521 abuts against the step surface 2511, the user can clearly feel that the shaft sleeve 252 has been installed in place, which can effectively reduce the difficulty of installing the shaft sleeve 252 and help to improve the assembly efficiency of the finger.

[0043] Of course, it is understandable that in other embodiments, each shaft hole 251 of the hinge structure may also be fixed with a shaft sleeve 252, and the rotating shaft 253 passes through all the shaft sleeves 252 at the same time and rotates with the shaft sleeves 252.

[0044] Example 2:

[0045] like Figure 7 As shown, this embodiment shows a bionic robotic arm, including an arm 5 and a dexterous hand, the dexterous hand is provided with at least two fingers, and the fingers are the dexterous hand fingers as described in the above embodiment 1. The outer surface of the arm 5 is fixed with a motor base 31, and the drive motor 32 is fixed to the arm 5 through the motor base 31.

[0046] In order to improve the control over the dexterous hand, the drive motor 32 in this embodiment is provided with a sensor for detecting the output shaft speed and the number of rotations. The sensor can be a Hall sensor. The sensor detects the speed and number of rotations of the output shaft and transmits the detection result to the control component of the simulated robotic arm. The control component can accurately record the movement state of the finger body 2 according to the speed and number of rotations of the output shaft, and then adjust the movement position of the finger body 2 according to the use requirements. In addition, the speed of the drive motor 32 can also be adjusted to change the movement speed of the finger body 2, making the movement of the finger body 2 more flexible and precise.

[0047] Example 3:

[0048] This embodiment shows a humanoid robot, including a robot body, on which at least one bionic robotic arm is movably mounted. At least one of the bionic robotic arms of the humanoid robot adopts the bionic robotic arm described in Example 2.

[0049] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A dexterous finger, comprising a finger base, a finger body, and a drive motor. The finger base is provided with a transmission mechanism connected to the drive motor. The drive motor drives the finger body to bend and / or swing through the transmission mechanism. The finger base is provided with a transmission mechanism connected to the drive motor. The drive motor drives the finger body to bend and / or swing through the transmission mechanism. The finger body includes a first knuckle and a second knuckle, the first knuckle is rotatably connected to the finger base, and the second knuckle is rotatably connected to the first knuckle. The connection between the first knuckle and the finger base and the connection between the second knuckle and the first knuckle are both provided with a hinge structure, and the hinge structure includes a rotating shaft, an axis hole and a shaft sleeve fixed in the axis hole, and the rotating shaft passes through the shaft sleeve and rotatably cooperates with the shaft sleeve.

2. The dexterous hand finger according to claim 1, characterized in that: The hinge structure includes two shaft holes, each of which is fixed with a shaft sleeve, and the rotating shaft passes through all the shaft sleeves at the same time and rotates in cooperation with the shaft sleeves.

3. The dexterous hand finger according to claim 1, characterized in that: The hinge structure includes two shaft holes, wherein a shaft sleeve is fixed in one of the shaft holes, and the rotating shaft is fixedly connected to the other shaft hole.

4. The dexterous hand finger according to claim 1, characterized in that: A convex ring is provided on the outer circumference of one end of the shaft sleeve, and a step surface abutting against the convex ring is provided on the end of the shaft hole.

5. The dexterous hand finger according to claim 1, characterized in that: The first finger joint includes a side swing link and a first finger joint link, the first finger joint link includes a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the side swing link rotates relative to the finger base to drive the finger body to swing, both ends of the side swing link are hinged to the first hinge end, the second hinge end is connected to the transmission mechanism through a cross shaft transmission, the third hinge end is hinged to the second finger joint, and the first hinge end, the second hinge end and the third hinge end are all provided with the hinge structure.

6. The dexterous hand finger according to claim 5, characterized in that: The transmission mechanism includes two groups of first transmission parts, the first transmission parts include a guide part and a slider sliding along the guide part, the two ends of the cross shaft are respectively connected to the slider and the second hinge end, the sliders of the two groups of first transmission parts slide synchronously in the same direction to drive the first knuckle to bend, and the sliders of the two groups of first transmission parts slide different distances or slide in opposite directions to drive the finger body to swing.

7. The dexterous hand finger according to claim 5, characterized in that: The transmission mechanism includes a second transmission member, the second transmission member includes a guide member and a slider sliding along the guide member, the end of the slider is connected to a cross shaft, the second finger joint includes a second finger joint connecting rod, the first connecting rod is rotatably connected between the cross shaft and the second finger joint connecting rod, the hinge structure at the second hinge end includes a first rotating shaft, and the second connecting rod is rotatably connected between the first rotating shaft and the cross shaft.

8. The dexterous hand finger according to claim 7, characterized in that: The finger body also includes a third knuckle, which is rotatably connected to the second knuckle connecting rod. The connection between the third knuckle and the second knuckle connecting rod is provided with the hinge structure. The third knuckle is rotatably connected to the end of the first knuckle connecting rod with a third connecting rod, and both ends of the third connecting rod are provided with the hinge structure.

9. A bionic robotic arm comprising an arm and a dexterous hand, wherein the dexterous hand has at least two fingers, characterized in that: The finger is a dexterous hand finger as described in any one of claims 1 to 8, and the drive motor is fixed on the arm.

10. A humanoid robot, characterized in that The robot comprises a robot body and at least one bionic robot arm as claimed in claim 9.

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